移植原子哥407板子上的MPU6050程序到MINI板子上DMP初始化出错，求教。

1楼-- · 2019-07-21 11:47

业余爱好者，硬件IIC终于成功了，之前也是自检不过，可以说明自检不过很有可能是读写时序问题。可能之后也就不做了，但还是分享出来吧，谢谢各位的分享[mw_shl_code=c,true]void Init_I2C1(){
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef I2C_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1,ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //配置串口接收端口挂接到9端口
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;    //复用功能输出OD
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    //配置端口速度为50M
  GPIO_Init(GPIOB, &GPIO_InitStructure);    //根据参数初始化GPIOB寄存器

I2C_DeInit(I2C1);
  I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
  I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
  I2C_InitStructure.I2C_OwnAddress1 = 0x00;
  I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
  I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
  I2C_InitStructure.I2C_ClockSpeed = 50000;
  I2C_Init(I2C1, &I2C_InitStructure);
  I2C_Cmd(I2C1, ENABLE);
}

u8 MPU_Write_Byte(u8 reg,u8 data){
u16 i;
I2C_GenerateSTART(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_Send7bitAddress(I2C1,((MPU_ADDR<<1)|0),I2C_Direction_Transmitter);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_SendData(I2C1,reg);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_SendData(I2C1,data);
I2C_GenerateSTOP(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}

return 0;
}

u8 MPU_Read_Byte(u8 reg){
u8 reg_data;
u16 i=0;
while(I2C_GetFlagStatus(I2C1,I2C_FLAG_BUSY)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_GenerateSTART(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_Send7bitAddress(I2C1,((MPU_ADDR<<1)|0),I2C_Direction_Transmitter);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_SendData(I2C1,reg);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_GenerateSTART(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_Send7bitAddress(I2C1,((MPU_ADDR<<1)|0),I2C_Direction_Receiver);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_AcknowledgeConfig(I2C1,DISABLE);
I2C_GenerateSTOP(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
reg_data = I2C_ReceiveData(I2C1);
return reg_data;
}

u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf){
u8 n;
  u16 i;
I2C_GenerateSTART(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_Send7bitAddress(I2C1,((MPU_ADDR<<1)|0),I2C_Direction_Transmitter);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_SendData(I2C1,reg);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
for(n=0;n<len;n++){
I2C_SendData(I2C1,buf[n]);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED)&&(i<2100)){
   i++;
   if(i>2000)
   return 1;
if(n>=(len-1))
I2C_GenerateSTOP(I2C1,ENABLE);
   }
}

return 0;
}

u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf){
  u16 i;
i=0;
while(I2C_GetFlagStatus(I2C1,I2C_FLAG_BUSY)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_GenerateSTART(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_Send7bitAddress(I2C1,((addr<<1)|0),I2C_Direction_Transmitter);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_SendData(I2C1,reg);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_GenerateSTART(I2C1,ENABLE);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_Send7bitAddress(I2C1,((addr<<1)|0),I2C_Direction_Receiver);
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)&&(i<2100)){
i++;
if(i>2000)
return 1;
}
I2C_AcknowledgeConfig(I2C1,ENABLE);
while(len){
i=0;
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED)&&(i<2100)){
   i++;
   if(i>2000)
   return 1;
   }
if(len<=2){
   I2C_AcknowledgeConfig(I2C1,DISABLE);
      I2C_GenerateSTOP(I2C1,ENABLE);
   }
*buf = I2C_ReceiveData(I2C1); //读数据,发送ACK
   len--;
   buf++;
}
return 0;
}
[/mw_shl_code]